#!/bin/bash

# 启动 PX4 SITL 模拟器
# gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.16.13;cd /home/nvidia/demo_ws/PX4-Autopilot/Tools; ./sitl_multiple_run.sh 1; exec bash"

# 启动 MAVROS 节点
# gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.16.13;source /opt/ros/foxy/setup.bash; ros2 run mavros mavros_node  --remap __ns:=/drone_0 --ros-args -p fcu_url:=udp://:14540@localhost:14580 -p tgt_system:=1 -p gcs_url:=udp://@192.168.16.191; exec bash"



gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.1.13;source /opt/ros/foxy/setup.bash; source /home/nvidia/soft_simulate/install/setup.bash;ros2 launch uav_swarms communication_multirotor_node0_launch.py; exec bash"
#2
gnome-terminal -- bash -c "export PX4_SIM_HOST_ADDR=192.168.1.13;source /opt/ros/foxy/setup.bash; source /home/nvidia/soft_simulate/install/setup.bash;ros2 launch airsim_ros_pkgs airsim_node.launch.py; exec bash"

#3, er wei ma
gnome-terminal -- bash -c "source /opt/ros/foxy/setup.bash;source /home/nvidia/soft_simulate/install/setup.bash; ros2 launch aruco_ros single.launch.py; exec bash"
#4, jiang luo
gnome-terminal -- bash -c "source /opt/ros/foxy/setup.bash; source /home/nvidia/soft_simulate/install/setup.bash;ros2 launch ar_track_landing ar_track_landing_launch.py; exec bash"